## For instruction on writing tutorials ## http://www.ros.org/wiki/WritingTutorials #################################### ##FILL ME IN #################################### ## for a custom note with links: ## note = ## for the canned note of "This tutorial assumes that you have completed the previous tutorials:" just add the links ## note.0= ## descriptive title for the tutorial ## title = Getting Start with RTM-ROS system ## multi-line description to be displayed in search ## description = This tutorials show how to work with rtmros system using HiroNx robot ## the next tutorial description (optional) ## next = ## links to next tutorial (optional) ## next.0.link= [[rtmros_common/Tutorials/WorkingWithEusLisp| Using EusLisp (roseus) to control rtmtros robots]] ## next.1.link= ## what level user is this tutorial for ## level= (BeginnerCategory, IntermediateCategory, AdvancedCategory) ## level= BeginnerCategory ## keywords = #################################### <<IncludeCSTemplate(TutorialCSHeaderTemplate)>> <<TableOfContents(4)>> == Install (12.04 Ubuntu) == Install ROS system, See http://wiki.ros.org/hydro/Installation/Ubuntu {{{ sudo apt-get install ros-hydro-hrpsys-ros-bridge ros-hydro-hironx-moveit-config }}} === Trouble shooting in installation === If you have already source of rtm-ros-robotics samples, please remove or move these source directories. For example, {{{ rm -fr ~/ros/hydro/src/rtm-ros-robotics/rtmros_common ~/ros/hydro/src/rtm-ros-robotics/openrtm_common }}} Please specify your catkin workspace such as ~/ros/hydro/src including rtmros_common and openrtm_common repositories. If you have already built these source repositories, please remove these. For example, {{{ rm -fr ~/ros/hydro/build ~/ros/hydro/devel ~/ros/hydro/install }}} When you asked question, following diagnostics tools may help to get full information of your system {{{ curl -sL https://raw.github.com/start-jsk/rtmros_common/master/hrpsys_tools/scripts/rtmroswtf.sh | bash }}} == Try Demo Program == === Biped Robot === Open Terminal and run robot {{{ rtmlaunch hrpsys_ros_bridge samplerobot.launch }}} Then, launch another terminal and make a robot walk {{{ rosrun hrpsys_ros_bridge test-samplerobot.py }}} {{http://wiki.ros.org/rtmros_common/Tutorials/GettingStart?action=AttachFile&do=get&target=samplerobot_ros_bridge.png|sample robot in hrpsys and rviz|width="640"}} === Manipulation Robot === Open Terminal and run robot {{{ rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch }}} Then, launch another terminal and play with MoveIt! {{{ roslaunch hironx_moveit_config moveit_planning_execution.launch }}} == System Overview == [[https://docs.google.com/drawings/d/1ZfQg4EHrGAC7fvHEWLVQxxjBbdmWLu9tMwqmFhb1eQo/edit?usp=sharing|{{https://docs.google.com/drawings/d/1ZfQg4EHrGAC7fvHEWLVQxxjBbdmWLu9tMwqmFhb1eQo/pub?w=960&h=720|https://docs.google.com/drawings/d/1ZfQg4EHrGAC7fvHEWLVQxxjBbdmWLu9tMwqmFhb1eQo/edit?usp=sharing}}]] To learn about hrpsys_ros_bridge system, please see https://github.com/start-jsk/rtmros_common/tree/master/hrpsys_ros_bridge#. See [[rtmros_nextage/Tutorials/Programming_Hiro_NEXTAGE_OPEN_GUI]], to see how to play with MoveIt GUI. See [[rtmros_nextage/Tutorials]] for more information on rtmros-system with HiroNX and Nextage robots. === System's Source-code === '''hrpsys (OpenRTM 's robot control)''' {{{ cd ~/ros/${ROS_DISTRO}_parent/src/hrpsys }}} Please see [[https://github.com/fkanehiro/hrpsys-base hrpsys-base]]. '''hrpsys interface for ros''' {{{ cd `rospack find hrpsys_ros_bridge` }}} Please see [[https://github.com/start-jsk/rtmros_common/tree/master/hrpsys_ros_bridge hrpsys_ros_bridge]]. '''hrpsys interface for euslisp via ros''' {{{ cd `rospack find hrpsys_ros_bridge` }}} Please see [[https://github.com/start-jsk/rtmros_common/tree/master/hrpsys_ros_bridge hrpsys_ros_bridge]] and go to Euslisp section. ## AUTOGENERATED DO NOT DELETE ## TutorialCategory ## FILL IN THE STACK TUTORIAL CATEGORY HERE